EP3198300A1 - Method for operating a multiplicity of radar sensors in a motor vehicle and motor vehicle - Google Patents
Method for operating a multiplicity of radar sensors in a motor vehicle and motor vehicleInfo
- Publication number
- EP3198300A1 EP3198300A1 EP15770797.7A EP15770797A EP3198300A1 EP 3198300 A1 EP3198300 A1 EP 3198300A1 EP 15770797 A EP15770797 A EP 15770797A EP 3198300 A1 EP3198300 A1 EP 3198300A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- radar sensors
- motor vehicle
- radar
- data
- environment
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 33
- 238000001514 detection method Methods 0.000 claims abstract description 29
- 239000004065 semiconductor Substances 0.000 claims description 17
- 238000012545 processing Methods 0.000 claims description 12
- 238000011156 evaluation Methods 0.000 claims description 6
- 238000005265 energy consumption Methods 0.000 claims description 4
- 230000004913 activation Effects 0.000 claims description 3
- 230000009849 deactivation Effects 0.000 claims description 3
- 230000006978 adaptation Effects 0.000 claims description 2
- 230000001960 triggered effect Effects 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 description 8
- 230000008901 benefit Effects 0.000 description 7
- 230000007613 environmental effect Effects 0.000 description 4
- 238000013461 design Methods 0.000 description 2
- 238000009826 distribution Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000012913 prioritisation Methods 0.000 description 2
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9327—Sensor installation details
- G01S2013/93271—Sensor installation details in the front of the vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9327—Sensor installation details
- G01S2013/93272—Sensor installation details in the back of the vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9327—Sensor installation details
- G01S2013/93274—Sensor installation details on the side of the vehicles
Definitions
- the invention relates to a method for operating a plurality of radar sensors in a motor vehicle, wherein at least one operating parameter of the radar sensors is variable, and a motor vehicle.
- radar sensors are nowadays usually used as environment sensors for a medium and large distance range in order to determine other road users or larger objects in distance, angle and relative speed.
- Such radar data can enter into environmental models or even be made available to vehicle systems directly.
- Benefits of radar data draw in the prior art, for example, longitudinal guidance systems, such as ACC, or security systems.
- Radar sensors of conventional design usually have a greater extent and are rather clunky, after the antennas and the electronic components required directly on the antenna, so the radar front end, are integrated in a housing. Mainly the electronic components thereby form the radar transceiver, which contains a frequency control (usually comprising a phase-locked loop - PLL), mixing devices, a low noise amplifier (LNA) and the like, but often also control modules and digital signal processing components are realized close to the antenna, for example already processed Sensor data, such as object lists, on a connected bus, such as a CAN bus to give.
- a frequency control usually comprising a phase-locked loop - PLL
- mixing devices usually comprising a phase-locked loop - PLL
- LNA low noise amplifier
- a very low cost small radar sensor is possible, which can meet the space requirements significantly better and due to the short signal paths also has a very low signal-to-noise ratio and for high frequencies and larger, variable frequency bandwidths is suitable. Therefore, such small-sized radar sensors can also be used for short-range applications, for example in the range of 30 cm to 10 m.
- CMOS transceiver chip and / or a package with CMOS transceiver chip and antenna on a common circuit board with a digital signal processing processor (DSP processor) or the functions of the signal processing processor in the CMOS Integrate transceiver chip. Similar integration is possible for control functions.
- DSP processor digital signal processing processor
- radar sensors are usually operated as "stand-alone" sensors, which means that each radar sensor decides for itself under what operating parameters it should operate and should rad radar data, whereby radar sensors have already been proposed in which signal and functional algorithms are implemented.
- the radar sensors themselves also form the control units and can thus, for example, directly actuate various actuators and / or issue outputs, for example via a man-machine interface of the motor vehicle.
- the monitored area to be detected is defined by the implemented or addressed function. That is, the radar sensors are hard-coded for a particular function, which may, for example, be associated with a vehicle system. This limits the use of the radar sensors for additional functions, in addition, the radar sensors are always active, which means a high energy demand.
- the invention is therefore based on the object to improve the operation of radar sensors in motor vehicles in terms of efficiency and availability for different functions of vehicle systems.
- a current driving situation of the motor vehicle descriptive driving situation data to determine a requirement profile to the sensor data of the radar sensors and adjusted taking into account at least the detection characteristics of all radar sensors, the operating parameters of the radar sensors to the requirements profile become.
- the invention therefore proposes centralized control of the radar sensors, which determines from driving situation data about the current driving situation which properties the sensor data of the radar sensors currently required should have in order to be as beneficial as possible by at least one function of the vehicle systems of the motor vehicle, preferably several functions of vehicle systems of the motor vehicle to be processed.
- This is defined by a requirement profile to the sensor data.
- a requirement profile may contain, for example, which of the surrounding areas of interest sensor data are required for, how frequent / fast this sensor data is required, and in what quality the sensor sorrtz be needed.
- the device implementing the method according to the invention where the radar sensors are arranged and which properties the radar sensors have, it is possible to map this requirement profile, knowing the detection properties of the radar sensors, to operating parameters of the radar sensors which fulfill the requirement profile as well as possible. It is therefore made a holistic view of the performance of all radar sensors so as to meet the requirements as precisely as possible and also to achieve improvements in energy requirements, the bus load and / or computing resources needs, for example, after it can be decided which radar sensors currently not needed and which radar sensors are needed. If a suitable architecture of the radar sensors is selected or if the radar sensors are even connected to a central unit, many applications, specifically functions of vehicle systems, can benefit from the performance of this configuration optimization. Consequently, additional information about the driving situation is used in order to determine the most efficient operation possible of the entirety of the radar sensors, wherein the interaction, supplementation and the like of the detection properties of all radar sensors is taken into account.
- the requirement profile can be described, for example, by request parameters, which preferably indicate for different environment regions of the environment of the motor vehicle, with which priority data are required from there (or if data is actually needed there), which is the desired accuracy of the sensor data from the surrounding area as well as how fast and / or with what frequency ideally data should be gained. If it results from the driving situation data, for example, that there is currently a turning process, only sensor data from the direction in which the motor vehicle turns, in the end, are relevant, for example, left-directed radar sensors in a left turn. The other radar sensors can be deactivated, for example.
- a critical environment for example, can be found which contains this potential collision partner and from which extremely fast 'extremely accurate' radar data can be obtained.
- data acquisition rates or accuracies of other radar sensors can be reduced in order nevertheless to enable rapid transport and rapid evaluation of this sensor data from the critical environment. Consequently, by evaluating the requirement profile and, ideally, additionally also efficiency criteria, operating strategies that are perfectly matched between the radar sensors result.
- radar sensors which comprise a semiconductor chip which realizes the radar transceiver, in particular a CMOS chip.
- CMOS complementary metal-oxide-semiconductor
- a digital signal processing component and / or a control unit of the radar sensor are realized to provide a portion of the intelligence in these radar sensors and in particular to allow a fast and efficient change of operating parameters in the radar sensor.
- the radar sensors it is conceivable to implement the radar sensors so that they can be switched between different frequency bandwidths, data acquisition rates and the like.
- a particularly compact, highly integrated design results when the semiconductor chip and an antenna arrangement of the radar sensor are realized as a package. Then, the radar sensor can be formed extremely small, for example, by the arranged on a circuit board package.
- activation and / or deactivation of a radar sensor can be triggered by the operating parameters and / or a data acquisition rate and / or at least one operating parameter describing the detection range and / or an operating parameter describing the spacing capability can be used as operating parameters Radar sensor to be pre-evaluated.
- Bender operating parameters are used. It is thus conceivable, on the one hand, to temporarily switch a radar sensor on or off by means of a corresponding operating parameter, but it is also possible for the operating parameters to be used generally as operating parameters changing the current detection characteristics.
- the detection properties of the radar sensors which are taken into account in the implementation of the requirement profile, are therefore to be understood as encompassing the basic setting possibilities of the radar sensors and their effects on the current detection properties thereof.
- the general detection characteristics of the radar sensors with respect to the operating parameters indicate the basic possibilities for setting to a specific operating state with certain current detection characteristics, but also include the arrangement of the radar sensor and allow in this regard a conclusion on the detected part of the environment of the motor vehicle.
- a concrete advantageous embodiment of the present invention provides that in an environment of interest described by the requirement profile only the radar sensors detecting the environment of interest or the radar sensors detecting the environment of interest are operated with more frequent and / or more accurate sensor data than the other radar sensors supplying operating parameters. Furthermore, as already described, it is conceivable that in a critical environment described by the requirement profile, at least two radar sensors are operated for the redundant detection of at least part of the critical environment in particular as a subregion of the environment of interest. This will be explained in more detail by means of some concrete examples.
- the radar sensors for the relevant right lateral surrounding areas are activated.
- the left-side sensors are not relevant in this driving maneuver, so the right turn. This means they can be shut down or operated at reduced cost, so that efficient use of the entire radar sensors, in particular with regard to bus bandwidth, computing resources, energy / operating current, performance in terms of dynamics / accuracy / redundancy, etc., is realized with such a targeted connection and disconnection or reduction of the requirements.
- objects are to be finely separated from one another in an environment of interest, it is possible to operate at least one radar sensor with a higher frequency bandwidth, for example 3 GHz, while the remaining radar sensors are operated with a low bandwidth, for example 100 MHz. Similarly, it is possible to operate some radar sensors with a higher cycle time (lower data acquisition rate) and others with a lower cycle time (higher data acquisition rate).
- the detection quality can be increased, for example by reducing ambiguity, if a plurality of adjacent radar sensors, whose coverage areas overlap in overlapping areas, can detect certain objects in a redundant manner. If the object is contained in the sensor data of all these radar sensors, the sensor data relating to the object can be statistically combined.
- the radar system formed by the radar sensors is operated as economically as possible in terms of energy consumption, bus bandwidth used, computing resources, and of course requirement profiles, for example with regard to potential collision effects or other possibly risky driving maneuvers, outweigh these efficiency criteria.
- the question evaluated in the operating method according to the invention is how the requirement profile can be achieved with otherwise highest possible efficiency.
- the radar sensors of the radar sensors which detect redundant areas of interest are switched off and / or whose detection area is adapted to minimize the redundancy. It is also quite possible, if an increase in the detection quality is not desired to disable radar sensors that provide the same measurements of the identical object. This saves energy and computing resources and reduces the amount of data in the bus system. Of course, this also applies to radar sensors that are not relevant for the current traffic scenario.
- the surroundings of the motor vehicle are used in their detection areas in a radar sensor which detects 360.degree.
- a radar sensor which detects 360.degree.
- a radar system can be created which can be adapted dynamically to the current driving situation and the information actually required by functions of the vehicle systems, with a more efficient operation Operation is possible.
- Such an arrangement of radar sensors can be achieved, for example, with eight radar sensors, if radar sensors each arranged in the corner regions of the motor vehicle and between the corners of the motor vehicle are used.
- the radar sensors provided at the corners of the motor vehicle can be aligned, for example, at a 45 ° angle to the longitudinal direction of the motor vehicle, the radar sensors arranged between the corners being aligned perpendicular to the side in which they are arranged.
- a central control unit of the motor vehicle which is assigned in particular at least two vehicle systems.
- Such central control units are known, for example, under the keyword “central driver assistance system” (zFAS) .
- zFAS central driver assistance system
- the idea is that all functions to be performed by driver assistance systems are implemented on a single control unit which also receives the sensor data of all connected sensors, including the radar sensors.
- the control unit also determines and updates an environment model of the motor vehicle, since then the driving situation data may also include data of the surrounding model, which is already present in the control unit Operating state and the driving situation descriptive driving situation data, so that when all the necessary input data, the determination of the requirement profile and the operating parameters can be particularly easily implemented as an additional function e connection architectures of the radar sensors with the central control unit conceivable, for example, for each radar sensor own connection (star architecture), or the use of rings or chains along which the radar sensors are connected.
- the central control unit it is also possible in such a central control unit to ultimately query directly from the functions what sensor data they require from the radar sensors in order to incorporate this in the requirement profile. In this case, a weighting of different functions, for example by prioritization, be made.
- second embodiment of the present invention can be provided that the evaluation of the driving situation and the control of the radar sensors by a computing device of at least one of the radar sensors. Since modern radar sensors themselves have a certain degree of intelligence, for example in the case of the described radar sensors realized in semiconductor technology, which have a control unit. realize unit and / or digital signal processing components through the semiconductor chip, can thus be realized without any problems described by the inventive method for determining the requirement profile and the operating parameters within a radar sensor. The radar sensor, whose computing device takes over this central vote, ultimately has a master role held, while the remaining radar sensors can be regarded as slaves.
- the master radar sensor uses corresponding algorithms, which may be part of a decision module, for example, to evaluate the driving situation data to the requirement profile and to derive suitable operating parameters therefrom.
- a master radar sensor acts as a distribution point for the sensor data of the radar sensors, thus, for example, initially receives all sensor data of all radar sensors and forwards or even realizes even functions of at least one vehicle system that evaluates the sensor data.
- the radar sensor whose computing device is used is selected dynamically, in particular as a function of the driving situation data and / or the operating parameters.
- Each radar sensor can thus be configured basically as master or slave, even while driving, for example, depending on the current traffic scenario, ie the current driving situation.
- a particularly efficient utilization (distribution of intelligence) of the configuration is realized with multiple radar sensors.
- the radar sensor currently to be used as the master it is possible, for example, to take into account data transmission paths from the further radar sensors supplying the most relevant sensor data and the like.
- the driving situation data can be used as the driving situation data.
- the environment data describing the operating state of the motor vehicle and / or at least one predictive operating state of the motor vehicle describing ego data and / or the surroundings of the motor vehicle descriptive environment data and / or specific requirements as driving situation data. be used by at least one vehicle system descriptive request data. From this information, an overall picture of the driving situation results, from which the requirement profile, for example as a request parameter, can be derived. If request data from vehicle systems or even individual functions of vehicle systems is used, a prioritization can be provided within the vehicle systems and / or the functions, so that, for example, safety-relevant vehicle systems are given a higher priority than comfort-relevant vehicle systems and the like.
- the invention also relates to a motor vehicle with a plurality of radar sensors, wherein at least one computing device of a radar sensor and / or a control device of the motor vehicle is designed for carrying out the method according to the invention. All statements relating to the method according to the invention can be analogously transferred to the motor vehicle according to the invention, with which therefore also the already mentioned advantages can be obtained.
- the control device is preferably a central control device that implements the functions of a plurality of vehicle systems and if necessary also determines an environmental model of the motor vehicle and keeps it up to date.
- the radar sensors may comprise a semiconductor chip implementing the radar transceiver, in particular a CMOS chip.
- CMOS chip implementing the radar transceiver
- Such radar sensors can, as has already been stated, be implemented in an extremely compact manner and, in particular when using the CMOS technology, are inexpensive to produce and thus available.
- even larger numbers of radar sensors can save space and ideally invisibly integrate from the outside into various components of the motor vehicle, for example in a vehicle door and / or a bumper.
- the radar sensors also provide appropriate intelligence for carrying out functions, in particular also the method according to the invention, so that it can be provided that the digital signal processing component and / or the computer as the computing device for carrying out the method according to the invention Control unit of a radar sensor can be used.
- FIG. 1 shows a motor vehicle according to the invention in a first embodiment
- Fig. 4 is a sketch for the construction of a radar sensor
- Fig. 5 shows an inventive motor vehicle in a second embodiment.
- FIG. 1 shows a schematic diagram of a motor vehicle 1 according to the invention of a first embodiment.
- this has eight radar sensors 2a - 2h, wherein four radar sensors 2a, 2c, 2e, 2g are arranged at the corners of the motor vehicle 1, the remaining radar sensors 2b, 2d, 2f and 2h at the sides respectively centered between the corner radar sensors 2a, 2c, 2e and 2g.
- the associated largest possible detection ranges of the radar sensors 2a-2h are shown in FIG. 2 and designated by the reference symbols 3a-3h. Obviously, a 360 ° angle range is detected.
- the radar sensors 2a, 2c, 2d, 2e, 2g and 2h can in the bumpers of the Motor vehicle 1 may be arranged, the radar sensors 2b and 2f in the doors.
- Various operating parameters of the radar sensors 2a-2h can be set, in particular the operating parameters defining the current detection characteristics such as opening angle, bandwidth, data acquisition rate and the like.
- a central control unit 4 which is designed to carry out the method according to the invention.
- the radar sensors 2a - 2h in the present case each four pieces are connected via a chain, but also other connection architectures are conceivable.
- the central control unit 4 carries out various functions of a plurality of driver assistance systems, in particular of all driver assistance systems, and determines and updates from sensor data of the radar sensors 2a-2h and further sensors of the motor vehicle 1, which are not shown here, an environmental model of the motor vehicle 1, which is controlled by the various functions is taken into account.
- the central control unit 4 is provided with further vehicle systems, which are not shown here in detail, of ego data of the motor vehicle which can describe the current operating state of the motor vehicle 1 and optionally predicted future operating states.
- vehicle systems which are not shown here in detail, of ego data of the motor vehicle which can describe the current operating state of the motor vehicle 1 and optionally predicted future operating states.
- a requirement profile for the sensor data of the radar sensors 2a-2h is determined from current driving situation data which describe the driving situation of the motor vehicle 1.
- a driving situation data for example, environment data describing the environment of the motor vehicle, for example the described environmental model, and ego data of the motor vehicle 1, for example its speed, Steering angle and the like, considered. It is expedient to additionally take into account requirement data of the functions which use sensor data of the radar sensors 2a-2h, wherein the functions or the corresponding vehicle systems may be prioritized among one another.
- a requirement profile results in step S1, which may be described by request parameters, for example.
- a requirement profile can first of all indicate from which area of interest of the environment of the motor vehicle 1 interest in the sensor is to be obtained.
- This environment of interest can now be subdivided into shares, to which, for example, priorities and / or attributes are assigned. If, for example, a potential collision object has been detected as a subarea of the environment of interest in a critical environment area, cf. In FIG. 2, for example, the object 5, this critical surrounding area can be highly prioritized and / or particularly accurate sensor data can be requested very quickly from this area.
- Other areas of interest and / or even critical environments arise, for example, from the current direction of travel of the motor vehicle 1.
- the surrounding area behind the motor vehicle 1 is the area of interest of interest; If there is a turn to the right, the surrounding area to the right of the motor vehicle 1 is the surrounding area of interest and the like. Obviously, it can be concluded from the driving situation from where in what frequency, speed and quality sensor data of the radar sensors 2a - 2h are needed, which is described by the requirement profile.
- efficiency criteria 6 relate in particular to the energy consumption, the restriction of data traffic on the bus systems of the motor vehicle 1 and the lowest possible utilization of computing resources. For example, if there is a right turn, no or very little data is needed from the radar sensors 2e, 2f and 2g to the left so that they can be deactivated, for example, which saves energy and data traffic as well as computational resources.
- the sensors 2h and 2d which are directed to the front and to the rear, provide data that could be relevant, but not as relevant as the sensor data supplied by the sensors 2a and 2b, for example, so that the detection ranges of the sensors 2a and 2b ideally can be adjusted so that they reflect the most important environment and a particularly high auf near merate with high ' accuracy is given, while the sensors 2h and 2d can be operated with below-average data collection rates and rather lower quality requirements, while the sensor 2c with medium Operating parameters can continue to operate.
- the detection ranges of the sensors 3a, 3b and 3h can be set in that all three radar sensors 3a, 3b and 3h detect the object 5 so that a redundant detection is provided and more accurate information about the object 5 can be obtained.
- the actual, actually used detection ranges of the sensors 3a, 3b and 3h can be adjusted in such a case so that only one of these radar sensors 3a, 3b and 3h, for example the radar sensor 3a, actually misses the object 5.
- a multiplicity of driving situations can be mapped to corresponding requirement profiles, from which in turn an optimally suitable set of operating parameters for the radar sensors 2a-2h follows, which optimally fulfills this requirement profile. ciently, for example, by turning off / activating some sensors, operating with higher or lower resource requirements, and the like.
- step S3 the radar sensors 2a-2h are activated in accordance with the operating parameters determined in step S2.
- the method is of course cyclically repeated, so that the current driving situation is always represented by corresponding parameter sets, in each case a holistic view of the radar systems formed by the radar sensors 2a-2h is performed in order to optimally meet requirement profiles to fulfill.
- Fig. 4 shows a particularly advantageous usable radar sensor 2 in more detail.
- This comprises a printed circuit board 8, on which a package 9 is arranged, which is formed from the antenna arrangement 10 of the radar sensor 2 and a semiconductor chip 11, in this case a CMOS chip.
- CMOS chip 11 By the CMOS chip 11, a radar transceiver 12, a control unit 13 and a digital signal processing component 14 (DSP) are realized.
- DSP digital signal processing component 14
- the radar sensor 2 can be realized extremely compact and thus save space in doors and bumpers of the motor vehicle 1 install.
- radar sensor side already given a certain intelligence by the realized by the semiconductor chip 11 components.
- each of the sensors 2a-2h now has a computing device 15, which is designed to carry out the method according to the invention, which is presently formed by the control unit 13 and / or the digital signal processing component 14.
- One of the sensors 2a-2h is now determined as a master, in particular depending on the driving situation, and its computing device 15 carries out the method according to the invention until another sensor 2a-2h is mastered. is true.
- the other sensors 2a-2h which are not the master, ultimately act as slaves. In this way, the distributed intelligence, which is given in the radar sensors 2a - 2h, use particularly appropriate.
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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DE102014014307.4A DE102014014307A1 (en) | 2014-09-25 | 2014-09-25 | Method for operating a plurality of radar sensors in a motor vehicle and motor vehicle |
PCT/EP2015/001892 WO2016045794A1 (en) | 2014-09-25 | 2015-09-24 | Method for operating a multiplicity of radar sensors in a motor vehicle and motor vehicle |
Publications (2)
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EP3198300A1 true EP3198300A1 (en) | 2017-08-02 |
EP3198300B1 EP3198300B1 (en) | 2020-08-26 |
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EP15770797.7A Active EP3198300B1 (en) | 2014-09-25 | 2015-09-24 | Method for operating a multiplicity of radar sensors in a motor vehicle and motor vehicle |
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US (2) | US10451729B2 (en) |
EP (1) | EP3198300B1 (en) |
CN (1) | CN106716173B (en) |
DE (1) | DE102014014307A1 (en) |
WO (1) | WO2016045794A1 (en) |
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DE102014014307A1 (en) | 2014-09-25 | 2016-03-31 | Audi Ag | Method for operating a plurality of radar sensors in a motor vehicle and motor vehicle |
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